Abstract
We are trying to develop a easy autonomous map making method for indoor mobile robots, using the property of the usual buildings, which we can assume that the major walls are located parallel or perpendicular. Based on these properties, the robot can find its own direction easily, with its surroundings range data, so that the accumulated error in the calculated direction can be avoided. After knowing the direction, the scan-matching can be easily done. We propose a scan-matching method using the histogram of the projected scan points an paticular X and Y axes, and its mutual correlations, between reference and current scans. In this paper, we propose the localization and mapping method by connecting the scanned range data using this property. And, we also present an example of experimental results of indoor map making by a mobile robot without using the odometry, which shows the effectiveness of the proposed method.
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